Master-slave manipulator



Jan. 10, 1967 L. w. HAAKER 'ETAL 3,297,172

MASTER-SLAVE MANIPULATOR 21 Sheets-Sheet 5 Filed Nov. 13, 1964 QNN w J Em My mgm 1% m m N r MHLQE T wwfwfl ma m sMo E T LM W Jan. 10, 1967 Filed Nov. 13, 1964 FIG. 6

L. W. HAAKER ETAL MASTER SLAVE MANIPULATOR 21 Sheets-Sheet 4 I N V E NTORJ LESTER W HAA KER DEMETRIUJ GJ'ELATIS CnRLETo/vE. JZFNNR/CH in MM /4 T TO RNE Kr 10, 1967 L. W. HAAKER ETAL 3,

MASTER: SLAVE MANIPULATOR Filed Nov. 13, 1964 21 Sheets-Sheet 5 I N V E NTORS L as TER 14/. HAAKER flfiMsrklusfiJkLArw CARLEToA/f. JE/wvR/cH z/WM Jan. 10, 1967 L. w. HAAKEQR ETAL 3,297,172

MASTER-SLAVE MANIPULATOR Filed Nov. 13, 1964 r 21 Sheets-Sheet e INVENTORJ LEJTER WH/MKER I07 DEMETR/us GJE'LAT/s CARLETON E. JE/vNR/cH I ATTORNEYS Jan. 10; 1967 L. W. HAAKER ETAL MASTER-SLAVE MANIPULATOR Filed Nov. 13, 1964 FIG. I3

21 Sheets$heet 7 INVENTORS LEJTER WHAA KER DEMETRIUS 6. JEL ATIJ CARLET NEJE NRICH 2 M A TTORNEYJ 1967 w. HAAKER ETAL 3,297,172

MASTER-SLAVE MANIPULATOR Filed Nov. 13, 1964 21 Sheets-Sheet 8 IW ili FIG. 16

INVENTORJ' [Em-ER WHAAKER DEMEr/r/u: GJismr/s CARLEm/vf. Jfimvklcfl ATTORNEYJ' 21 Sheets-Sheet 9 FIG. 19

L. W. HAAKER ETAL.

MASTER-SLAVE MANIPULATOR Jan. 10, 1967 Filed Nov. 13, 1964 w J MHMM mKaR m WAJN a wm mflw wmjwfl Jan. 10, 1967 L. w. HAAKER ETAL 3,297,172

MASTER SLAVE MANI PULATOR Filed Nov. 13, 1964 21 Sheets-Sheet 10 IN VE NTORJ' 352 LEJTER WHAAKER' DEMETRIUJGJDELATI'S CARLETo/VEJENNRKH Arron/vex:

Jan. 10, 1967 Filed Nov. 13, 1964 L. w. HAAKER ETAL MASTER-SLAVE MANIPULATOR w 9 0 8 o z ggg g Juli-1,1114

21 Sheets-Sheet 11 INVENTORJ LESTER WHAAKER DEMETRIl/S GJELATIJ CARLETO/Vf. ENNRICH Arron/-12. Yd

1967 w. HAAKER ETAL 3,

MASTER- SLAVE MANIPULATOR Filed Nov. 13, 1964 21 Sheets-Sheet 15 I NVENTORS LEJ TER WHAA KER DEMETRIusGJELA-HJ CARLEroNEJE/vNRIcH F1635 g! z/m wafw ATTaKNEKS Jan. 10, 1967 L. w. HAAKER ETAL 3,297,172

MASTER- SLAVE MANIPULATOR Filed Nov. 13, 1964 21 Sheets-Sheet M INVENTORJ' LESTER W/IAAKER DEMETRIUJG.JELATIS CARLET NEJ'ENNRICH 7% wtw4 ATTORNEY! Jan. 10, 1967 L. w. HAAKER ETAL 3,

MASTER-SLAVE MANIPULATOR 21 Sheets-Sheet 15 Filed Nov. 13, 1964 FIG. 34

INVENTORS ZEJTER VIZ/MAKER DEMETR/UJ6.JELATI5 c RLETO/V ,JZNNRICH ATTRNEYJ 1967 w. HAAKER ETAL 3,297,172

MASTER-SLAVE MANIPULATOR 21 Sheets-Sheet 16 Filed Nov. 15, 1964 m n/ J Tm H a N AJ R a k s a v T N T w m A 5mm WWI. m EA by Jan. 10, 1967 w. HAAKER ETAL 3,297,172

MASTER-SLAVE MANIPULATOR 21 Sheets-Sheet 1 '7 Filed Nov. 13, 1964 5 J R! v i 2 E T WHG T mwk A a W 7 Jan. 10, 1967 L. w. HAAKER ETAL 3,297,172

MASTER-SLAVE MANIPULATOR Filed Nov. 13, 1964 21 Sheets-Sheet 18 INVENTORJ LESTER WHAAKER DEMErR/w Gkmr/s CARLETd/V E. JENNRICH g 7%,; M15014 I47 TORNE v:

Jan. 10, 1967 w, HAAKER ETAL 3,297,172

MASTER-SLAVE MANIPULA'I'OR Filed Nov. 13, 1964 21 Sheets-Sheet 19 RM J ETHMH oMmm N T. mmfim m m .GN. r wmwA TH M Jan. 10, 1967 L. w. HAAKER ETAL MASTER-SLAVE MANIPULATOR 21 Sheets-Sheet 20 Filed Nov. 13, 1964 FIG. 40

@H J 5%, v MEMR 5 0K aw R a VH- E w W m A Rrm a i M L a LDC 

1. A REMOTE-CONTROL THROUGH-THE-WALL MASTER-SLAVE MANIPULATOR COMPRISING A HORIZONTAL SUPPORT ADAPTED FOR INSERTION THROUGH A BARRIER WALL AND ROTATION ABOUT ITS LONGITUDINAL AXIS, A MASTER ARM HAVING A RELATIVELY STATIONARY PORTION PIVOTALLY CONNECTED TO ONE END OF SAID SUPPORT AND A SLAVE ARM HAVING A RELATIVELY STATIONARY PORTION PIVOTALLY CONNECTED TO THE OTHER END OF SAID SUPPORT, THE RELATIVELY STATIONARY PORTIONS OF SAID MASTER ARM AND SLAVE ARM BEING MOVABLE RELATIVE TO SAID HORIZONTAL SUPPORT ON THEIR PIVOTAL CONNECTIONS AND MOVABLE WITH SAID HORIZONTAL SUPPORT ABOUT ITS LONGITUDINAL AXIS, BUT STATIONARY AS TO MOVEMENT TRANSVERSE TO THE LONGITUDINAL AXIS OF SAID HORIZONTAL SUPPORT, A LONGITUDINALLY EXTENSIBLE PORTION ON SAID MASTER ARM AND A LONGITUDINALLY EXTENSIBLE PORTION ON SAID SLAVE ARM MOVABLE IN RESPONSE TO MOVEMENT OF THE EXTENSIBLE PORTION OF THE MASTER ARM, SAID SLAVE ARM BEING MOVABLE IN RESPONSE TO CORRESPONDING MOVEMENT OF SAID MASTER ARM IN ITS MOVEMENT RELATIVE TO THE HORIZONTAL SUPPORT AND WITH THE HORIZONTAL SUPPORT AND IN THE MOVEMENT OF THE EXTENSIBLE PORTION RELATIVE TO THE STATIONARY PORTION, STRUCTURAL MEANS INTERCONNECTING SAID MASTER ARM AND SLAVE ARM FOR MOVING SAID SLAVE ARM SIMULTANEOUSLY IN DIRECT COORDINATION WITH SAID MASTER ARM BUT AT A DIFFERENT RATE AND OVER A DIFFERENT DISTANCE FROM CORRESPONDING MOVEMENT OF SAID MASTER ARM. 